How do i plot the control trajectories of my fractional differential equation?

W is 2x2 grammian matrix and x(t)=[x_1(t); x_2(t)], y1=[1;2], x_0=[1;1], x_0^{\prime}=[2;2] and f(t,x(t))=[sqrt{x^2_1(t)+5}; 0],

W = [4.1122 5.3058;5.3058 7.0937]

for n=0,1,2,... How to find the streering control and the control trajectories for the above by using nested for loop?